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WO1999008832A1 - Dispositif pour deplacer et positionner un objet dans un plan - Google Patents

Dispositif pour deplacer et positionner un objet dans un plan Download PDF

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Publication number
WO1999008832A1
WO1999008832A1 PCT/CH1998/000357 CH9800357W WO9908832A1 WO 1999008832 A1 WO1999008832 A1 WO 1999008832A1 CH 9800357 W CH9800357 W CH 9800357W WO 9908832 A1 WO9908832 A1 WO 9908832A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
freedom
holding member
respect
degree
Prior art date
Application number
PCT/CH1998/000357
Other languages
German (de)
English (en)
Inventor
Oliver Zirn
Guido Baldini
Daniel Rutz
Original Assignee
Mikron Sa Agno
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mikron Sa Agno filed Critical Mikron Sa Agno
Publication of WO1999008832A1 publication Critical patent/WO1999008832A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4861—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed parallelly by a single rotating pair

Definitions

  • the invention relates to a device for moving and positioning an object in a plane, which is particularly suitable for use in machine tools and industrial robots.
  • serial kinematic serial kinematic
  • the multi-axis relative movement between tool and workpiece is achieved by connecting the corresponding number of linear or rotary movement axes in series.
  • the drive for a movement axis must carry all drives of the downstream movement axes.
  • This serial-kinematic machine concept on the one hand increases the masses to be moved by the drives, which has a disadvantageous effect on the maximum achievable accelerations and thus on the processing speed.
  • the total error of the relative movement of tool and workpiece is made up of the sum of the deviations of the individual axes, which has a disadvantageous effect on the precision of the movement that can be achieved.
  • kinematic structures for machine tools and for robots have therefore been developed which are based on a parallel kinematic (parallel kinematic) structure.
  • the drives for the different axes of the relative movement between tool and workpiece are not arranged in series, but in parallel.
  • No drive has to support the other, which means that the masses to be accelerated are small compared to serial machine kinematics.
  • the total error of the relative movement is of the order of magnitude of a single error in a drive.
  • a movable holding element which, for example, carries the workpiece
  • a basic structure which, for example, carries the tool
  • six telescopic connecting links the length of which can be adjusted by means of a drive.
  • the six connecting links are attached to the base structure on the one hand and to the movable holding member on the one hand by means of swivel joints, each of which allows at least two degrees of freedom of rotation, so that a relative movement between tool and workpiece by six axes in a limited space and angle range sen is made possible.
  • the movement is controlled by changing the length of the connecting links by means of the drives.
  • US Pat. No. 5,378,282 (Pollard) describes a device for moving and positioning based on a parallel kinematic structure with three translational degrees of freedom, which is particularly suitable for moving spray guns in the automotive industry.
  • Three legs are hinged at one end (by means of cardan joints) to a slide and pivotally connected to one another near the other ends by means of a connecting part.
  • the tool or spray gun is carried on the end of one of the legs remote from the sled.
  • This device which, in contrast to the above-mentioned Hexapod machines, does not have any length-adjustable members, enables movement and positioning with three translational degrees of freedom in space.
  • EP-AS 0 760 272 (Seiko) describes a device for multi-axis spatial movement of a platform with respect to a basic structure, which is based on a parallel kinematic structure which is similar to that of Pollard mentioned above.
  • Sledges which can be moved linearly on straight guide rails, carry a platform by means of rigid or scissor-like legs. The legs are attached to the slide on the one hand and to the platform on the other hand by means of swivel joints, which allow rotary movements with at least two degrees of freedom of rotation.
  • additional rotary movements with one or more degrees of freedom are possible.
  • CH-PS 672 089 Sogeva a parallel kinematic structure is described which enables spatial displacement with three degrees of translational freedom of a platform with respect to a basic structure, the alignment of the platform with respect to the basic structure always remaining the same.
  • three rotatable shafts are provided on the base structure, on each of which a control arm is attached, which by means of the shaft with a rotational degree of freedom with respect to the base structure.
  • Each control arm is connected to the platform via an associated connecting part, the connecting part being attached to the control arm on the one hand and to the platform on the other hand by means of rotary joints which permit rotary movements with at least two degrees of freedom of rotation.
  • All of the above-mentioned devices require rotary joints with at least two degrees of freedom, usually in the form of cardanic joints or in the form of ball joints.
  • the kinematic structures on which the devices are based are therefore referred to as spatial kinematic structures.
  • spatial kinematic structures In comparison to swivel joints of flat kinematic structures with only one degree of freedom of rotation, their swivel joints have disadvantages in terms of manufacturing costs, rigidity and service life.
  • DE-AS 195 25 482 (Richerzhagen) describes a device based on a parallel kinematic structure for moving and positioning an object in a plane, which is particularly suitable for applications in laser processing.
  • this device manages with swivel joints with only one degree of freedom and is therefore based on a flat parallel-kinematic structure, apart from translational movements with two degrees of freedom, no further movements are possible and no moments can be recorded.
  • the latter is acceptable in certain laser processing applications because the massless laser beam does not produce significant machining forces, but not in general for machine tool applications.
  • the object of the present invention is to provide a device which can be produced from precise and inexpensive swivel joints with only one degree of freedom and with which an object with at least three kinematic degrees of freedom can be moved and positioned.
  • the device for moving and positioning an object in a plane has a basic structure, a movable holding member for holding the object and three driving elements.
  • Each driving element can be moved essentially independently of the others in the manner of a translational movement with a degree of freedom with respect to the basic structure.
  • Each drive link has at least one associated rigid connecting part.
  • Each connecting part is articulated on its associated driving member in such a way that it has exactly one degree of freedom of rotation with respect to the driving member, and on the other hand articulated on the movable holding member in such a way that it has exactly one degree of freedom of rotation with respect to the movable holding member.
  • the connecting parts are arranged on the movable holding member in such a way that all associated connecting parts of the first two driving members can be pivoted about a first common pivot axis with respect to the movable holding member and each associated connecting part of the third driving member can be pivoted about a second common pivot axis with respect to the movable holding member.
  • the movable holding member of the device according to the invention can have the shape of a table or a platform which carries the object to be moved, for example a tool or a workpiece.
  • the holding member can also comprise just any fastening means for the object to be moved or a housing for holding and / or driving, for example, a tool or a workpiece.
  • the holding member of the device according to the invention has the function of carrying and / or holding the object to be moved, and it is by the Device moved together with the object to be moved with respect to the base structure
  • a driving member is understood to be a carriage, a carriage, a glider or any other device which can be moved translatively with respect to the basic structure
  • the basic structure can consist of a housing of a machine tool, a support frame, an assembly platform or another basic structure. It merely defines the reference basis for the relative movement of the movable holding element of the device according to the invention
  • the rigid connecting parts for creating articulated connections between the moving members and the holding member are preferably designed as a rod. However, they can also be designed as plates or in other suitable forms
  • a movable holding member can be moved in one plane with respect to a base structure with three degrees of freedom, namely two translational and one rotary degree of freedom, the relative movement between the base structure and the movable holding member being based on a parallel kinematic structure.
  • the control of the movement takes place via the control of the drives of the three travel members. Neither swivel joints with two or three degrees of freedom of rotation nor long adjustable members are required to design the device, but only standard components
  • the object which can be moved and positioned by means of the movement device comprises a processing device with a rotating spindle, the axis of rotation of which is arranged parallel to the plane for moving and positioning
  • the device according to the invention for guiding the driving members preferably has one or more straight-line guiding devices arranged parallel to one another
  • the guide devices consist of threaded spindles and the driving members consist of nuts in order to form spindle-nut parts, as are particularly widespread in machine tools
  • the driving members and guiding devices are designed in the form of linear motors.
  • the three driving elements are preferably arranged on a single guide device, for example a linear rail, since the costs for additional linear rails can then be saved if the movement restriction for the due to the mutual restriction of the movements of the three driving elements on a single guide device movable holding member is unacceptable, the first two driving elements can alternatively be arranged on a first guide device and the third driving member on a second guide device in order to enlarge the usable space and / or angular range for the relative movement between the holding device and the basic structure
  • the three driving elements can be arranged on three separate guide devices
  • one of the first two driving members is fixedly connected to the third driving member, whereby the two connected driving members can only be moved translationally and in parallel at the same time translative degrees of freedom moved in one plane are, wherein the third, connected to one of the other two links link ensures that the holding member can absorb moments.
  • the machine tool has a further device for moving and positioning an object with a further movable holding member, two further travel members, each with a translational degree of freedom with respect to the Basic structure are movable and each have an associated rigid further connecting part, and a straight, further guide device arranged substantially perpendicular to the plane of the first movement device for guiding the further driving members.
  • Each of the two further connecting parts is articulated on its associated further driving member and on the other hand on the other further connecting part in such a way that it has exactly one rotational degree of freedom with respect to the driving member or the other connecting part.
  • the further movable holding member is firmly attached to one of the other connecting parts.
  • this machine tool does this machine tool carry e.g. a tool on the movable holding member of the first movement device and a workpiece on the movable holding member of the second movement device, the machine enables a five-axis relative movement between tool and workpiece, which is based on a completely parallel kinematic structure, only swivel joints with one degree of freedom being required .
  • the movement is controlled by controlling the drives of five links.
  • the machine has a further device for moving and positioning an object with a further driving element that is movable with a translational degree of freedom with respect to the basic structure, one rectilinear, essentially perpendicular to the plane of the first movement device arranged further guiding device for guiding the further driving element and a further movable holding member.
  • the further movable holding member is arranged on the further drive member so as to be rotatable about an axis of rotation.
  • This machine enables five Axial relative movement between the movable holding member of the movement device according to the invention and the further movable holding member, which, however, is no longer based on a completely parallel kinematic structure, but on a parallel / serial hybrid structure.
  • the movement with a rotational degree of freedom of the further holding member is connected in series with the translative movement of the further driving member.
  • the tool in a lathe, can be moved in a horizontal or in a vertical plane by means of a device according to the invention, or the device according to the invention can be linked in series with further axes of movement in order to achieve a particularly advantageous effect for certain applications.
  • 1 shows a perspective view of a first embodiment of the device according to the invention
  • 2 shows a schematic perspective illustration of a second embodiment of the device according to the invention in a lathe
  • FIG. 3 shows a schematic perspective illustration of a machine tool for five-axis machining with the device according to the invention from FIG. 1;
  • FIG. 4a shows a schematic side view of a machine tool with a third embodiment of the device according to the invention in a first position
  • FIG. 4b shows a schematic side view of the machine tool from FIG. 4a with the device according to the invention in a second position;
  • FIG. 4c shows a schematic side view of the machine tool from FIG. 4a with the device according to the invention in a third position.
  • FIG. 1 shows a perspective view of a first embodiment of the device 7 according to the invention for moving and positioning an object 40 in one plane
  • FIG. 3 shows a schematic representation of how the device 7 is arranged in a machine tool for five-axis machining.
  • the device 7 has a basic structure (not shown), a movable holding member 10 and three driving elements 12, 14, 16. Each drive member 12, 14, 16 is essentially independent of the others in the manner of a translational movement with a degree of freedom with respect to the base structure.
  • the device 7 for guiding the driving members 12, 14, 16 has a rectilinear guide device in the form of a single guide rail 20, which guides all three driving members 12, 14, 16 and is arranged firmly on the base structure.
  • Each link 12, 14, 16 has an associated rigid connecting part 2, 4, 6.
  • Each connecting part 2, 4, 6 is articulated at its end on the link side by means of a rotary joint 22, 24, 26 to its associated link 12, 14, 16.
  • the three rotary joints 22, 24, 26 each have exactly one degree of freedom of rotation and are arranged such that their axes of rotation are parallel to one another.
  • the connecting parts 2, 4, 6 are articulated to the movable holding member 10 by means of rotary joints 32, 34.
  • the three connecting parts 2, 4, 6 are in turn each pivotable with exactly one rotational degree of freedom with respect to the holding member 10.
  • the connecting parts 2, 4, 6 are arranged in an articulated manner on the holding member 10 such that the two connecting parts 2, 4, of the first two driving members 12, 14 can be pivoted about a first common pivot axis 42 with respect to the movable holding member 10.
  • this is achieved in that the connecting parts 2, 4 of the first two driving members 12, 14 are fastened in an articulated manner to the holding member 10 by means of a double swivel joint 32.
  • the connecting part 6 belonging to the third driving element 16 is fastened to the holding element 10 so that it can pivot about a second pivot axis 44 with respect to the movable holding element 10 by means of a single rotary joint 34.
  • the second pivot axis 44 is arranged parallel to the first pivot axis 42.
  • the two pivot axes 42, 44 run parallel to the above-mentioned axes of rotation of the three rotary joints 22, 24, 26.
  • the holding member 10 can be displaced on the one hand in a plane (hereinafter referred to as the displacement plane) perpendicular to the two pivot axes 42, 44 mentioned above.
  • the plane of displacement is parallel to the plane spanned by the arrows Y and Z.
  • the holding member 10 in one by the arrow A indicated direction of rotation can be rotated about an axis of rotation perpendicular to the plane of displacement. (This axis of rotation thus runs parallel to the two pivot axes 42, 44).
  • the movement of the third driving member 16 causes the holding member 10 to rotate purely about the pivot axis 42. If the third driving element 16 is displaced uniformly to one of the two first driving elements 12, 14 in such a way that the distance between the third driving element 16 and one of the two first driving elements 12, 14 remains constant, the holding element 10 becomes a pure translational movement in the shift plane.
  • a tool or any other object to be moved parallel to the plane of displacement can be fastened to the holding member 10 by means of further fastening and / or drive devices.
  • 1 and 3 schematically show a processing device with a drive device and a rotating spindle 40 driven by the drive device. This can serve, for example, as a drilling spindle 40 of a drilling machine or as a spindle spindle 40 of a tip lathe. The axis of rotation of the rotating spindle 40 lies parallel to the plane of displacement of the movement device 7.
  • the rotating spindle 40 is held together with its drive device by the holding member 10 and is therefore translationally displaceable parallel to the plane of displacement by means of the movement device 7 and about a pivot axis perpendicular to the plane of displacement (and thus perpendicular to the The axis of rotation of the rotating spindle 40) can be pivoted.
  • FIG. 2 shows a schematic perspective illustration of a second embodiment of the device 107 according to the invention, as is used in connection with a lathe (not shown).
  • a guide rail 120 which is arranged parallel to the axis of rotation of a lathe (not shown) and firmly on a base structure thereof, which also forms the base structure of the device 107, three travel members 112, 114, 116 are arranged displaceably along the rail 120, the two driving members 114 and 116 being firmly connected to one another.
  • Each driving member 112, 114, 116 has an associated rigid connecting part 102, 104, 106, which on one side by means of a swivel joint 122, 124, 126 on its associated driving member 112, 114, 116 and on the other side by means of a pivot joint 132, 134 is arranged on a movable holding member 110.
  • the swivel joint 132 is a double swivel joint, by means of which the two first connecting parts 102, 104 are arranged on the holding member 110, the other swivel joints 122, 124, 126, 134 are single swivel joints. All swivel joints 122, 124, 126, 132, 134 allow pivoting movements between the parts attached to them with exactly one degree of freedom of rotation.
  • the holding member 110 which carries a tool 140, is translationally displaceable in a displacement plane parallel to the plane X, Z, the displacement plane essentially through the guide rail 120 and the axis of rotation of the lathe is defined.
  • the device 107 serves to machine a workpiece 145 which is rotated by the lathe in the direction indicated by the arrow C by the device 107 moving and positioning the tool 140 with respect to the workpiece 145.
  • the connecting part 106 ensures that the orientation of the movable holding element 110 is maintained and thus prevents the holding element 110 from tipping over the joint 132 as a result of the moments transmitted from the workpiece 145 via the tool 140 to the holding element 110.
  • FIG. 3 shows how the device 7 according to the invention from FIG. 1 is used for moving and positioning an object in a plane in a machine tool (not shown) for five-axis machining.
  • the machine tool has a further device 57 for moving and positioning an object.
  • the device 57 has a guide rail 70 which is arranged in the direction X, normal to the plane of movement Y, Z of the first device 7 and fixed to the base structure of the device 7.
  • two travel members 62, 64 are arranged displaceably along the rail 70.
  • Each drive link 62, 64 has an associated rigid connecting part 52, 54 which is arranged on one side by means of a rotary joint 72, 74 on its associated drive link 62, 64.
  • the two Binding parts 52, 54 articulated to one another by means of a swivel joint 76.
  • the swivel joints 72, 74, 76 are single swivel joints which allow pivoting movements between the parts attached to them with exactly one degree of freedom of rotation.
  • a movable holding member 60 is further arranged fixedly on the connecting part 52, so that when the connecting part 52 is pivoted by means of the joint 72 with respect to the driving member 62, the holding member 60 together with the connecting part 52 is pivoted with respect to the driving element 62, and if the driving element 62 and thus also the joint 72 and the end of the connecting part 52 on the driving element side are displaced translationally, the holding member 60 is also translationally displaced.
  • the machine tool enables a five-axis relative movement between the tool and the workpiece, which is based on a completely parallel kinematic structure, with only rotary joints with one degree of freedom required are.
  • the holding member 10 is translationally displaceable parallel to the plane Y, Z with two degrees of freedom and can be pivoted with a degree of freedom of rotation in the direction of the arrow A about an axis of rotation parallel to the axis X.
  • the holding member 60 can be moved parallel to the axis X with a translational degree of freedom and can be pivoted with a degree of rotational freedom in the direction of the arrow B about an axis of rotation parallel to the axis Y. Overall, the machine enables a five-axis relative movement between the tool and the workpiece, the movement being controlled via the control of the linear drives of the five driving elements 12, 14, 16, 62, 64.
  • FIGS. 4a, 4b and 4c each show, in different working positions, a schematic side view of a machine tool with a third embodiment of the device 207 according to the invention.
  • the device 207 has a base structure 211, a movable holding member 210 in
  • Each drive member 212, 214, 216 has an associated rigid connecting point 202, 204, 206.
  • Each connecting part 202 , 204, 206 is articulated on one side by means of a swivel joint 222, 224, 226 on its associated driving member 212, 214, 216 and on the other side by swivel joints 232, 234 on the movable holding member 210.
  • the swivel joint 232 is a double Swivel joint, by means of which the two first connecting parts 202, 204 are arranged on the holding member 210, the remaining swivel joints 222, 224, 226, 234 are single swivel joints. All swivel joints 222, 224, 226, 232, 234 allow swivel movements between the parts attached to them with exactly one degree of freedom of rotation
  • the machine tool has a further device 257 for moving and positioning an object.
  • the device 257 has a further rectilinear guide device 270, which is in the direction X, normal to the plane of movement Y, Z of the first device 207 and firmly on the base structure 211 is arranged on the further guide device 270, a further drive member 262 is arranged to be translationally movable along the further guide device 270.
  • Another movable holding member 260 is rotatably arranged on a directly driven rotary axis 268 with a degree of freedom of rotation on the further drive member 262 and carries the workpiece 245
  • This machine enables a five-axis relative movement between the movable holding element 210 of the movement device 207 and the movable holding element 260 of the movement device 257.
  • the holding element 210 can be displaced translationally parallel to the plane Y, Z with two degrees of freedom and can be pivoted In with a degree of freedom of rotation about an axis of rotation parallel to the axis X
  • FIGS. 4 a, 4 b and 4 c each show the device 207 in a different working position, wherein in FIG. 4 a the holding element 210 is inclined parallel to the axis Z, in FIG. 4 b by 45 ° to the axis Z and in FIG. 4 c is aligned perpendicular to the Z axis.
  • the further holding member 260 can be displaced parallel to the X axis with a translational degree of freedom and can be rotated with a rotational degree of freedom about an axis of rotation parallel to the Y axis
  • the relative movement between tool 240 and workpiece 245 is no longer based on a completely parallel-kinematic structure, but on a parallel / serial hybrid structure.
  • the movement with a rotational degree of freedom of the further holding member 260 follows the translative movement of the further driving element 262 in a serial manner.
  • the invention provides a device for moving and positioning an object in a plane, which is based on a parallel kinematic structure and only requires swivel joints with one degree of freedom.

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  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)

Abstract

L'invention concerne un dispositif (7) utilisé pour déplacer et positionner un objet dans un plan. Ce dispositif comporte une structure de base, un organe de maintien mobile (10) et trois éléments de déplacement (12, 14, 16) dont chacun peut être déplacé selon un mouvement de translation, avec un certain degré de liberté, par rapport à la structure de base, et présente une partie de liaison (2, 4, 6) rigide qui lui est associée. Chaque partie de liaison est, d'une part, articulée au niveau de l'élément de déplacement qui lui est associé, et d'autre part, au niveau de l'organe de maintien mobile, de sorte qu'elle présente exactement un degré de liberté de rotation par rapport à l'élément de déplacement ou à l'organe de maintien mobile. Les parties de liaison sont, en outre, disposées de façon que les parties de liaison associées aux deux premiers éléments de déplacement puissent pivoter autour d'un premier axe de pivotement (42), par rapport à l'organe de maintien mobile, et que la partie de liaison associée au troisième élément de déplacement puisse pivoter autour d'un second axe de pivotement (44), par rapport à l'organe de maintien. L'utilisation du dispositif selon l'invention permet, en association avec l'exploitation de la possibilité d'effectuer une parallélisation par répartition des déplacements axiaux entre la pièce à usiner et l'outil, sur des machines outils, de réaliser une machine purement à cinématique en parallèle, pour l'usinage en cinq axes, cela sans qu'il soit nécessaire de mettre en oeuvre des cinématiques en parallèle spatiales.
PCT/CH1998/000357 1997-08-20 1998-08-20 Dispositif pour deplacer et positionner un objet dans un plan WO1999008832A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH194997 1997-08-20
CH1949/97 1997-08-20

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WO1999008832A1 true WO1999008832A1 (fr) 1999-02-25

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Cited By (18)

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US5904935A (en) * 1995-06-07 1999-05-18 Alza Corporation Peptide/protein suspending formulations
EP0993918A2 (fr) * 1998-10-15 2000-04-19 Gebr. Schmid GmbH & Co. Dispositif pour mouvement d'un effecteur d'extrémité
EP1112806A2 (fr) * 1999-12-27 2001-07-04 GROB-Werke Dr. h.c. mult. Dipl.-Ing. Burkhart Grob e.K. Machine-outil avec broche qui peut être déplacé et positionné dans au moins un plan de travail
WO2001081040A1 (fr) * 2000-04-20 2001-11-01 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil
EP1188511A2 (fr) * 2000-09-13 2002-03-20 DECKEL MAHO Pfronten GmbH Machine-outil avec un chariot porte-outil motorisé
FR2816230A1 (fr) * 2000-11-08 2002-05-10 Greffioz Andre Machine-outil a plusieurs axes
EP1234632A1 (fr) * 2001-02-23 2002-08-28 Willemin Machines S.A. Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
EP1273386A1 (fr) * 2001-06-19 2003-01-08 TBT Tiefbohrtechnik GmbH Dispositif pour positionner une broche
EP1759809A2 (fr) * 2005-09-01 2007-03-07 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil avec chariot à deux-axes mise en mouvement par des barres motrices de longueur constante
WO2008019850A2 (fr) * 2006-08-16 2008-02-21 Kmb Produktions Ag Dispositif pour traiter et/ou manipuler des objets
CN101966652A (zh) * 2010-09-14 2011-02-09 常州大学 一种三轴数控平面型并联操作手
DE202010004471U1 (de) * 2010-04-01 2011-08-11 Emima Gmbh Werkzeugträgerstruktur für eine Werkzeugmaschine
CN102218596A (zh) * 2011-06-24 2011-10-19 江苏大学 一种串并联激光加工机床
CN103930242A (zh) * 2011-10-10 2014-07-16 詹努斯·玛兹·艾齐玛 具有工具操作器的机器
DE102014210963A1 (de) * 2014-06-06 2015-12-17 Optima consumer GmbH Antriebsvorrichtung und Station einer Verpackungsmaschine
JP2016209973A (ja) * 2015-05-13 2016-12-15 株式会社京都製作所 移送装置
CN112286053A (zh) * 2020-10-16 2021-01-29 北京航空航天大学 一种高机动微型无人机的制导控制一体化方法
JP2021109253A (ja) * 2020-01-07 2021-08-02 株式会社人機一体 作業アーム

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EP0993918A2 (fr) * 1998-10-15 2000-04-19 Gebr. Schmid GmbH & Co. Dispositif pour mouvement d'un effecteur d'extrémité
EP0993918A3 (fr) * 1998-10-15 2000-07-12 Gebr. Schmid GmbH & Co. Dispositif pour mouvement d'un effecteur d'extrémité
EP1112806A2 (fr) * 1999-12-27 2001-07-04 GROB-Werke Dr. h.c. mult. Dipl.-Ing. Burkhart Grob e.K. Machine-outil avec broche qui peut être déplacé et positionné dans au moins un plan de travail
EP1112806A3 (fr) * 1999-12-27 2006-05-03 GROB-Werke Dr. h.c. mult. Dipl.-Ing. Burkhart Grob e.K. Machine-outil avec broche qui peut être déplacé et positionné dans au moins un plan de travail
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US6655246B2 (en) 2000-04-20 2003-12-02 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine tool
EP1188511A2 (fr) * 2000-09-13 2002-03-20 DECKEL MAHO Pfronten GmbH Machine-outil avec un chariot porte-outil motorisé
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EP1188511A3 (fr) * 2000-09-13 2003-02-12 DECKEL MAHO Pfronten GmbH Machine-outil avec un chariot porte-outil motorisé
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WO2002066203A1 (fr) * 2001-02-23 2002-08-29 Willemin Machines S.A. Dispositif cinematique de support et de deplacement programmable d'un element terminal dans une machine ou un instrument
EP1234632A1 (fr) * 2001-02-23 2002-08-28 Willemin Machines S.A. Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
EP1273386A1 (fr) * 2001-06-19 2003-01-08 TBT Tiefbohrtechnik GmbH Dispositif pour positionner une broche
US7334304B2 (en) 2005-09-01 2008-02-26 Index-Werke Gmbh & Co. Kg Hahn Tessky Machine tool
EP1759809A3 (fr) * 2005-09-01 2007-05-09 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil avec chariot deux-axes mis en mouvement par des barres motrices de longueur constante.
US7578036B2 (en) 2005-09-01 2009-08-25 Index-Werke Gmbh Co. Kg Hahn & Tessky Machine tool
EP1759809A2 (fr) * 2005-09-01 2007-03-07 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil avec chariot à deux-axes mise en mouvement par des barres motrices de longueur constante
WO2008019850A2 (fr) * 2006-08-16 2008-02-21 Kmb Produktions Ag Dispositif pour traiter et/ou manipuler des objets
WO2008019850A3 (fr) * 2006-08-16 2008-07-31 Kmb Produktions Ag Dispositif pour traiter et/ou manipuler des objets
JP2010500041A (ja) * 2006-08-16 2010-01-07 カーエムべー プロドゥクツィオーンス アーゲー 物体の処理及び／又は搬送装置
US8348590B2 (en) 2006-08-16 2013-01-08 Kmb Produktions Ag Device for treating and/or handling articles
DE202010004471U1 (de) * 2010-04-01 2011-08-11 Emima Gmbh Werkzeugträgerstruktur für eine Werkzeugmaschine
CN101966652A (zh) * 2010-09-14 2011-02-09 常州大学 一种三轴数控平面型并联操作手
CN102218596A (zh) * 2011-06-24 2011-10-19 江苏大学 一种串并联激光加工机床
CN103930242A (zh) * 2011-10-10 2014-07-16 詹努斯·玛兹·艾齐玛 具有工具操作器的机器
DE102014210963A1 (de) * 2014-06-06 2015-12-17 Optima consumer GmbH Antriebsvorrichtung und Station einer Verpackungsmaschine
JP2016209973A (ja) * 2015-05-13 2016-12-15 株式会社京都製作所 移送装置
JP2021109253A (ja) * 2020-01-07 2021-08-02 株式会社人機一体 作業アーム
CN112286053A (zh) * 2020-10-16 2021-01-29 北京航空航天大学 一种高机动微型无人机的制导控制一体化方法

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